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多目标时空同步协同攻击无人机任务分配与轨迹优化
引用本文:张云飞,林德福,郑多,程子恒,唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495. DOI: 10.3969/j.issn.1000-1093.2021.07.016
作者姓名:张云飞  林德福  郑多  程子恒  唐攀
作者单位:(北京理工大学 宇航学院, 北京 100081)
基金项目:国家自然科学基金项目(61903350)
摘    要:针对复杂战场环境下分布式无人机对多目标协同打击任务,提出多目标攻击的任务分配与轨迹优化算法.建立典型多目标打击的任务场景和无人机模型;基于Delaunay三角形理论,以禁飞区为节点构建搜索地图;运用A*算法实现威胁最小的单机路径搜索;在无人机动力学约束和能耗损失最小的基础上,引入时间调节因子,采用基于贝塞尔曲线的分布式...

关 键 词:无人机  飞行器设计  多目标攻击  分布式协同  任务分配  轨迹优化  时空同步

Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack
ZHANG Yunfei,LIN Defu,ZHENG Duo,CHENG Ziheng,TANG Pan. Task Allocation and Trajectory Optimization of UAV for Multi-target Time-space Synchronization Cooperative Attack[J]. Acta Armamentarii, 2021, 42(7): 1482-1495. DOI: 10.3969/j.issn.1000-1093.2021.07.016
Authors:ZHANG Yunfei  LIN Defu  ZHENG Duo  CHENG Ziheng  TANG Pan
Affiliation:(School of Astronautics, Beijing Institute of Technology, Beijing 100081, China)
Abstract:A task allocation and trajectory optimization algorithm for multi-target attack is proposed for the coordinated attack task of distributed UAVs attacking multiple targets in a complex battlefield environment. The typical multi-target strike mission scenarios and UAV models are established. A search map with no-fly zones as nodes is constructed based on Delaunay triangle theory. A* algorithm is used to achieve the least threatening single-aircraft path search. In terms of UAV dynamics constraints and minimum energy loss, the time adjustment factor is introduced and the distributed UAV time-space synchronization trajectory optimization method based on Bezier curve is adopted to obtain the optimized trajectory for simultaneous attack on multiple targets. A trajectory tracking controller was designed for simulation track of pre-planned trajectory. The simulated results show that the proposed multi-target attack task allocation and trajectory optimization method can achieve multi-angle, time-space synchronization, and distributed coordinated attack on multiple targets, and it has strong robustness against interference such as noise and wind gusts.
Keywords:unmannedaerialvehicle  flightvehicledesign  multi-targetattack  distributedcooperation  taskallocation  trajectoryoptimization  time-spacesynchronization  
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